Uwe Kiencke
Lars Nielsen
Automotive Control Systems
For Engine, Driveline, and Vehicle
Uwe Kiencke
Lars Nielsen
Automotive
Control Systems
For Engine, Driveline, and Vehicle
Second edition
With 345 figures and 13 tables
Library of Congress Control Number: 2005922217
ISBN 3-540-23139-0 Springer Berlin Heidelberg New York
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Printed on acid-free paper 62/3141/Yu – 5 4 3 2 1 0
Prof. Dr Ing. Uwe Kiencke
Universität Karlsruhe (TH)
Department of Electrical Engineering
76187 Karlsruhe
Germany

Prof. Dr. Lars Nielsen
Division of Vehicular Systems
Department of Electrical Engineering
Linköping University
581 83 Linköping
Sweden

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:M: !VV!B!E'. M M M M M M M M M M M M M M M M M M M M M M M M M M M M M M /H
:M8 _.BE@.'[?GE M M M M M M M M M M M M M M M M M M M M M M M M M M M M M M /H
:MY _.B`!IGT![?GE M M M M M M M M M M M M M M M M M M M M M M M M M M M M /\
:MX cB?E+.TcE!C?'V M M M M M M M M M M M M M M M M M M M M MMMMMMM //
:MXMH .TG>?C.EV?GE!BG+.B?E; M M M M M M M M M M M M M M M MMM //
:MXM^ =.TCG+cE!C?'O_![?GEV M M M M M M M M M M M M M M M M MM /F
:MXM\ E.T;c!B!E'.M M M M M M M M M M M M M M M M M M M M M M M M M /F
:MXM: GB_C.[T?'GTA M M M M M M M M M M M M M M M M M M M M MMMM /F
:MXM8 .![GVV.V M M M M M M M M M M M M M M M M M M M M M M MMMMM Fe
:MXMY E.T;cGE`.TV?GE M M M M M M M M M M M M M M M M M M M MMMM FH
:MXMX E[=!BIcG3!VVBGaV M M M M M M M M M M M M M M M M M M M M FH
:MXM/ E[.TE!BE.T;cG3[=.!V=!T;. M M M M M M M M M M M MMM F^
:MXMF !B'_B![?GEG3[![.!T?!$B.VM M M M M M M M M M M M M M M M M F^
:M/ ?[[?E;G3G+.B!T!C.[.TVM M M M M M M M M M M M M M M MMMMMMM F\

:M/MH ?C_B![?GET.V_B[V M M M M M M M M M M M M M M M M M M M M M M M F8
:MF GG[''T_.C.E[ M M M M M M M M M M M M M M M M M M M M M MMMMMMM FX
' 2*-2!42A<40H=A!1= 33
8MH !C$+!GE[TGB M M M M M M M M M M M M M M M M M M M M M M M M M M M M FF
8MHMH [G?'=?GC.[T?'I.T![?GEG3E;?E.V M M M M M M M M M M M FF
8MHM^ bc;.E.EVGT M M M M M M M M M M M M M M M M M M M M M MMMMHe:
8MHM\ E;?E.G+.B3GT!C$+!GE[TGB M M M M M M M M M M M M M MHe8
8MHM: !C$+!GE[TGB?T'_?[ M M M M M M M M M M M M M M M M M M M MHe/
8MHM8 .!V_T.C.E[.V_B[V M M M M M M M M M M M M M M M M M M MMMHH^
8MHMY +!I[?`.!C$+!GE[TGBM M M M M M M M M M M M M M M M MMMHH\
8M^ +B.I +GE[TGB M M M M M M M M M M M M M M M M M M M M M M M M M M MH^e
8M^MH E.T;cGE`.TV?GEG+.B!E+GTO_.!B!E'. M M M M M M MH^H
8M^M^ [![.I!'.GE[TGB M M M M M M M M M M M M M M M M M M MMMMH^\
GE[.E[V 
8M^M\ .!V_T.C.E[.V_B[V M M M M M M M M M M M M M M M M M M MMMH^X
8M\ EG'AGE[TGB M M M M M M M M M M M M M M M M M M M M M M MMMMMMMH^/
8M\MH EG'A?E;![E;?E.V M M M M M M M M M M M M M M M M M M M MH^/
8M\M^ EG'A.EVGTV M M M M M M M M M M M M M M M M M M M M M MMMMH\^
8M\M\ ?;E!BTG'.VV?E;M M M M M M M M M M M M M M M M M M M MMMMMH\8
8M\M: EG'AGE[TGB M M M M M M M M M M M M M M M M M M M M M MMMMH\X
8M\M8 +!I[?`.EG'AGE[TGBM M M M M M M M M M M M M M M M M M M MH\/
8M: cB?E+.T!B!E'?E; M M M M M M M M M M M M M M M M M M M M M M M M M M MH:^
8M:MH .V?+_.V![[![?GE!TcE;?E.I.T![?GE M M M M M M M M M MH:\
8M:M^ .V?+_.V![E;?E.T!EV?.E[VM M M M M M M M M M M M M MMMMH::
8M:M\ +!I[![?GEG3E@.'[?GE!I M M M M M M M M M M M M M M MMMH:Y
? -*24=-= 5)3
YMH ?!;EGV?VG3_[GCG[?`.E;?E.V M M M M M M M M M M M M M MMMMMMH8e
YMHMH =cE>G!T+?!;EGV?VP M M M M M M M M M M M M M M M M M MH8e
YM^ M M M M M M M M M M M M M M M M M M M M M M M M M M MMMMMMMMH8H
YM^MH !?E=!T!'[.T?V[?'V M M M M M M M M M M M M M M M M M M M M M MH8H

YM\ E[TG+_'[?GE[G?!;EGV?V M M M M M M M M M M M M M M M M MMMMMMMH8\
YM\MH !V?'.7E?[?GEV!E+GE'.I[V M M M M M M M M M M M M M MMMH8:
YM: G+.B!V.+?!;EGV?VM M M M M M M M M M M M M M M M M M MMMMMMMH8Y
YM:MH GC.=!T!'[.T?V[?'VG3G+.B!V.+?!;EGV?VM M M M M M MH8Y
YM8 !_B[V M M M M M M M M M M M M M M M M M M M M M M M M M M M M M M M M M MH8X
YM8MH !_B[G+.B?E; M M M M M M M M M M M M M M M M M M M M M M M M MH8F
YMY T?E'?IB.VG3G+.B!V.+?!;EGV?V M M M M M M M M M M M MMMMMMH8F
YMYMH .V?+_!B.E.T![GT.V?;E M M M M M M M M M M M M M M M MMMHYH
YMYM^ .V?+_!B`!B_![?GE M M M M M M M M M M M M M M M M M M MMMMHY:
YMYM\ b!CIB.VG3CG+.B$!V.++?!;EGV?V3GT>.E;?E.VM M M M M MHYY
YMX IIB?'![?GEb!CIB.>?TE[!A.cV[.C M M M M M M M M M MMMMMHYX
YMXMH G+.B?E;[=.?TE[!A.cV[.C M M M M M M M M M M M M M M MHY/
YMXM^ G+.B+.E[?7'![?GE M M M M M M M M M M M M M M M M M M MMMMHXe
YMXM\ =.?!;EGV?VcV[.C M M M M M M M M M M M M M M M M M M M M MHX^
YMXM: .V?+_!B.E.T![?GE M M M M M M M M M M M M M M M M M M MMMMHX^
YMXM8 .V?+_!B`!B_![?GE M M M M M M M M M M M M M M M M M M MMMMHX:
YMXMY CIB.C.E[![?GEM M M M M M M M M M M M M M M M M M M M M M M M MHX8
YMXMX !B?+![?GEG3[=.?!;EGV?VcV[.CM M M M M M M M M M M M M MHX8
YM/ ?V7T..[.'[?GE M M M M M M M M M M M M M M M M M M M M M M M M M M M MH/\
YM/MH T!EAV=!3[GC.E[G3E.T[?!M M M M M M M M M M M M M M M M MH/\
YM/M^ T!EAV=!3[GTO_.!B!E'. M M M M M M M M M M M M M M M MMMH/Y
YM/M\ T!EV3GTC![?GE?E[G?E.!TcV[.C.IT.V.E[![?GE M M M M MH/Y
YM/M: !BC!E?B[.T.V?;E M M M M M M M M M M M M M M M M M M M M MH/X
YM/M8 .V_B[V M M M M M M M M M M M M M M M M M M M M M M M M MMMMMH/F
YMF E;?E T?E;G3?!;EGV?VcV[.CVM M M M M M M M M M M M M M M M M M MHFH
> <-E!0-2!42A<40 53B
XMH T?`.B?E.G+.B?E; M M M M M M M M M M M M M M M M M M M M M M M M M M MHF\
XMHMH !V?'T?`.B?E.O_![?GEV M M M M M M M M M M M M M M M MMMMHF:
XMHM^ !V?'GCIB.[.G+.B M M M M M M M M M M M M M M M M M M MHFX
XMHM\ GC$?E?E;[=..O_![?GEV M M M M M M M M M M M M M M M M MMMHFF

XMHM: E BB_V[T![?`. G+.B?E; b!CIB. MMMMMMMMMMMMMMHFF
 GE[.E[V
XM^ G+.B?E;G3._[T!B.!T M M M M M M M M M M M M M M M M M M M M M M M^^H
XM^MH [![?GE!Tc.!T>=?3[bI.T?C.E[V M M M M M M M M M M M MMM^^H
XM^M^ cE!C?'!B.!T>=?3[bI.T?C.E[VM M M M M M M M M M M M M M^^^
XM^M\ .'G_IB.+G+.B M M M M M M M M M M M M M M M M M M M MMM^^:
XM\ T?`.B?E.GE[TGB M M M M M M M M M M M M M M M M M M M M MMMMMMMM^^Y
XM\MH !'A;TG_E+ M M M M M M M M M M M M M M M M M M M M M M M M M M M^^X
XM\M^ ?.B+T?!BV3GTTG$B.C.CGEV[T![?GE M M M M M M M M M M M^^/
XM\M\ G!BVG3T?`.B?E.GE[TGBM M M M M M M M M M M M M M M M M M M^\H
XM\M: GCC.E[GET'=?[.'[_T.V3GTT?`.B?E.GE[TGB M M M M M M^\^
XM\M8 [![.>I!'.GTC_B![?GEM M M M M M M M M M M M M M M M MMMM^\\
XM\MY GE[TGBB.TGTC_B![?GEM M M M M M M M M M M M M M M M M M M M M^\8
XM\MX GC. +$!'ATGI.T[?.VM M M M M M M M M M M M M M M M M M M^\Y
XM\M/ T?`.B?E.GE[TGBa?[=Z M M M M M M M M M M M M M M^\/
XM: T?`.B?E.I +GE[TGB M M M M M M M M M M M M M M M M M MMMMMMM^:\
XM:MH GE[TGB M M M M M M M M M M M M M M M M M M M M M M MMMM^:8
XM:M^ TG$B.CGTC_B![?GE M M M M M M M M M M M M M M M M M M MMM^:Y
XM:M\ I +GE[TGBa?[='[?`.!CI?E;!E+.=!`?GTM M^:F
XM:M: E9_.E'.3TGC.EVGTG'![?GE M M M M M M M M M M M M M MMM^8^
XM:M8 ?C_B![?GEV M M M M M M M M M M M M M M M M M M M M M M MMMMM^8/
XM:MY I +GE[TGBB.TbI.T?C.E[VM M M M M M M M M M M M M M M M M^Ye
XM:MX _CC!Tc M M M M M M M M M M M M M M M M M M M M M M M M MMMM^Y:
XM8 T?`.B?E.GE[TGB3GT.!T>=?3[?E; M M M M M M M M M M M MMMMMMM^Y:
XM8MH E[.TE!BT?`.B?E.GTO_. M M M M M M M M M M M M M M M MMMM^Y8
XM8M^ T!EVC?VV?GE>GTO_.GE[TGBT?[.T?GEM M M M M M M M M MMM^Xe
XM8M\ T!EVC?VV?GE>GTO_.GE[TGB.V?;E M M M M M M M M M M M M M^X8
XM8M: E9_.E'.3TGC.EVGTG'![?GE M M M M M M M M M M M M M MMM^X/
XM8M8 ?C_B![?GEV M M M M M M M M M M M M M M M M M M M M M M MMMMM^/H
XM8MY .!T>=?3[GE[TGBB.TbI.T?C.E[V M M M M M M M M M M M MMM^/^

XMY E[?>.TA?E;GE[TGB3GT!VV.E;.T!TV M M M M M M M M M MMMMMM^/F
XMYMH G+.BG3[=.Ga.T[T!?EG3!!VV.E;.T!T M M M M M M M M^FH
XMYM^ GE[TGBB.T.V?;EM M M M M M M M M M M M M M M M M M M MMMMM^F8
XMYM\ cV[.C.T3GTC!E'. M M M M M M M M M M M M M M M M M M M M M M^F/
" !+-0!4 !00-2* BJ5
/MH E[TG+_'[?GEM M M M M M M M M M M M M M M M M M M M M M M M M M M M M M M\eH
/M^ G>GT+?E![.cV[.CV M M M M M M M M M M M M M M M M M M M MMMMMMM\e^
/M\ = BG+.B M M M M M M M M M M M M M M M M M M M M M M M MMMMMMM\e:
/M\MH = BTG_E+GE[!'[G?E[.BG'?[?.V M M M M M M M M M M M\e:
/M\M^ = BB?I!E+?T.?+.B?IE;B. M M M M M M M M M M MMM\H\
/M\M\ T?'[?GEG>.5'?.E[!B'_B![?GEM M M M M M M M M M M M MMMM\HF
/M\M: !B'_B![?GEG3T?'[?GEGT'.V M M M M M M M M M M M M M M M M M\^^
/M\M8 ?T.=!T!'[.T?V[?'V M M M M M M M M M M M M M M M M M M M M M M\^:
/M\MY .7E?[?GEG3[=.= B!+?_V M M M M M M M M M M M M M MMM\^X
/M: =.GCIB.[..=?'B.G+.B M M M M M M M M M M M M M M M M M M M M M\^X
/M:MH =!VV?VT!EVB![GTcG[?GE M M M M M M M M M M M M M M M M M M\^/
/M:M^ =!VV?VG[![?GE!BG[?GE M M M M M M M M M M M M M M M MMM\\^
/M:M\ _VI.EV?GE M M M M M M M M M M M M M M M M M M M M M M M M M M M\\:
/M:M: .+_'.+GEB?E.!TaG>[T!'AG+.BM M M M M M M M M M M M M\\X
GE[.E[V 
/M:M8 .=?'B.[!$?B?[cE!BcV?V M M M M M M M M M M M M M M M M M M M\:^
/M8 !B?+![?GEG3[=..=?'B.G+.B M M M M M M M M M M M M M MMMMMMM\::
/M8MH !B?+![?GETG'.+_T.M M M M M M M M M M M M M M M M M M M M M M\:8
/M8M^ !B?+![?GE.V_B[V M M M M M M M M M M M M M M M M M M M M M M M\:X
3 !+-0!<1!A!<=2 AA!= B'5
FMH .=?'B..BG'?[cV[?C![?GE M M M M M M M M M M M M M M M MMMMMMM\8H
FMHMH .EVGT![!T.ITG'.VV?E;M M M M M M M M M M M M M M M MMMM\8^
FMHM^ !BC!E?B[.TIITG!'=M M M M M M M M M M M M M M M M M M M M\8\
FMHM\ =GT[E[TG+_'[?GE[G_ddcG;?' M M M M M M M M M M M MMM\88
FMHM: _ddcV[?C![GT M M M M M M M M M M M M M M M M M M M M MMMM\8Y

FMHM8 .V_B[VG3.=?'B..BG'?[cV[?C![GTM M M M M M M M M MMMM\YH
FM^ .=?'B.!a![.V[?C![?GE M M M M M M M M M M M M M M M MMMMMM\Y:
FM^MH ![!T.ITG'.VV?E;M M M M M M M M M M M M M M M M M M M M M M M\Y:
FM^M^ !a![.!B'_B![?GE_V?E;[=.= BI +V M M M M M M M\Y:
FM^M\ EI_[V M M M M M M M M M M M M M M M M M M M M M M M M M M M M M M\Y8
FM^M: _[I_[V M M M M M M M M M M M M M M M M M M M M M M M M MMMMM\YY
FM^M8 =._ddccV[.C M M M M M M M M M M M M M M M M M M M M M M M\YX
FM^MY .!V_T.C.E[)G_E+!$G_[T!5'GE_$B?'G!+ M M M M M\Y/
FM\ T!@.'[GTc.'GEV[T_'[?GE M M M M M M M M M M M M M M M M MMMMMMM\YF
FM\MH .=?'B.G'![?GE M M M M M M M M M M M M M M M M M M M M M M M M\YF
FM\M^ .'GEV[T_'[.+T!@.'[GT?.V M M M M M M M M M M M M M M M M M M\Xe
FM\M\ G$_V[E.VVE!BcV?V M M M M M M M M M M M M M M M M M M MMMM\XH
FM: +.E[?7'![?GEG3.=?'B.!T!C.[.TVM M M M M M M M M M M MMMMMMM\X8
FM:MH T?'[?GE=!T!'[.T?V[?'V M M M M M M M M M M M M M M M M M M M M\X8
FM:M^ !VVGC.E[VG3E.T[?! M M M M M M M M M M M M M M M M MMM\XF
FM:M\ =G'A$VGT$.T=!T!'[.T?V[?'V M M M M M M M M M M M M M M M M\/8
FM8 IITGb?C![?GEG3.=?'B.!T!C.[.TV M M M M M M M M M M M MMMMM\/X
FM8MH !B'_B![?GEG3= BTG_E+GE[!'[GT'.V M M M M M M M M\//
FM8M^ +!I[![?GEG3[=.?T.?+.B?IGEV[!E[V M M M M M M M M M\FH
FM8M\ IITGb?C![?GEG3?['=!E+GBBE;B.VM M M M M M M M M M M\F\
FM8M: IITGb?C![?GEG3.=?'B.!VV M M M M M M M M M M M M M MMM\F:
FMY .=?'B.G+c?+.B?IE;B.$V.T`.TM M M M M M M M M M MMMMMM\FY
FMYMH !V?'=.GTcG3!GEB?E.!T$V.T`.T M M M M M M M M M M M M\FY
FMYM^ $V.T`.T.V?;E M M M M M M M M M M M M M M M M M M M M MMMM\F/
FMYM\ !B?+![?GEG3.=?'B.G+c?+.B?IE;B.$V.T`.T M M M M:ee
FMX .[.TC?E![?GEG3[=.G!+T!+?.E[ M M M M M M M M M M M M M M M M M:e^
FMXMH .[=G+H)''.B.T![?GE!E+= BI +.[=G+ M M M M M:e\
FMXM^ .[=G+^)G+.B$!V.+G!+T!+?.E[$V.T`![?GE M M M M:e:
5J!+-0!42A<40H=A!1= )J3
HeMH GE[TGBcV[.CV M M M M M M M M M M M M M M M M M M M M M M M M M:eF

HeMHMH GTO_.!B!E'.![a= B>TG!+'GE[!'[ M M M M M M M M M MMM:eF
HeMHM^ GE[TGBc'B.VG3[=.cV[.C M M M M M M M M M M M MMM:He
HeMHM\ c'B..[.'[?GEM M M M M M M M M M M M M M M M M M M M M M:H^
HeM^ GE[TGBG3[=.!acE!C?'V M M M M M M M M M M M M M M M M M M M M M:H8
HeM^MH .T?`![?GEG3?CIB?7.+GE[TGB!aM M M M M M M M M M M M M:HY
HeM^M^ .T?`![?GEG3.3.T.E'.!B_.V M M M M M M M M M M M M MMMM:HF
 GE[.E[V
554 2 <-E!<4 !0= )C'
HHMH G!+G+.BM M M M M M M M M M M M M M M M M M M M M M M MMMMMMMM:^8
HHMHMH .O_?T.C.E[VG3[=.G!+G+.B M M M M M M M M M M M M MMM:^8
HHMHM^ .7E?[?GEG3[=.G_TV.![= M M M M M M M M M M M M M MMMM:^Y
HHMHM\ G!+_T3!'.V!E+?E+[T.E;[= M M M M M M M M M M M M M M:^F
HHM^ T?`.TG+.B M M M M M M M M M M M M M M M M M M M M MMMMMMM:\e
HHM\ c$T?+T?`.TG+.B M M M M M M M M M M M M M M M M M M M M M M M M M M:\^
HHM\MH .=?'B.GE[TGB!VAV M M M M M M M M M M M M M M M M M M M M M:\^
HHM\M^ =!T!'[.T?V[?'VG3[=._C!E!V!GE[TGBB.T M M M M M MMM:\:
HHM\M\ E3GTC![?GE!E+B?E; M M M M M M M M M M M M M M M M M MMMM:\X
HHM\M: GCIB.[.T?`.TG+.B M M M M M M M M M M M M M M M M M M M M::e
HHM\M8 G+.BG3_C!EE3GTC![?GE'O_?V?[?GE M M M M M M M M M M::H
HHM\MY E[.T>.`.E[TT?`!B!E+.T`?'.?C.V M M M M M M M M M M M M::\
HHM\MX .3.T.E'.!B_.!B'_B![?GEM M M M M M M M M M M M M M M M M M::8
HHM\M/ GE;?[_+?E!B!E+![.T!BGE[TGBM M M M M M M M M M M MMMM:8H
 66!2 -G )?'
MH !'G$?!E![T?'.VZGEB?E.!TaG>[T!'AG+.B M M M M M M M M M M M:Y8
M^ .T?7'![?GEG3$V.T`!$?B?[c M M M M M M M M M M M M M M M M M M M M M M:YF
M^MH [.IH)!cBGT.bI!EV?GEa?[=T.VI.'[[G[?C.M M M M M MMM:YF
M^M^ [.I^)?E.!T?d![?GE!TG_E+!'[_!BIG?E[G3GI.T![?GE M M M:Xe
M^M\ TGG3G3G$V.T`!$?B?[c M M M M M M M M M M M M M M M M M M M M M:XH
M\ .V?;EG3GE[TGBB.TVM M M M M M M M M M M M M M M M MMMMMMM:X8
M\MH =.TG'.VVG+.BM M M M M M M M M M M M M M M M M M M MMMM:X8

M\M^ .'_TV?GEG3[=.?GI=!E[?E.O_![?GE M M M M M M M M M M M:XY
M\M\ =.GE[TGB!a M M M M M M M M M M M M M M M M M M M M MMMM:XX
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M8MH !T!C.[.TV[?C![?GE$cC.!EVG3.!V[O_!T.V.[=G+ M:/e
M8M^ !T!C.[.TV[?C![?GE$cC.!EVG3.'_TV?`..!V[O_!T.V:/H
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MH ![=.C![?'!B.7E?[?GEV M M M M M M M M M M M M M M M M M MMMMMM:/\
M^ =cV?'!B`!T?!$B.VM M M M M M M M M M M M M M M M M M M M M M M M M M M M:/:
M\ $$T.`?![?GEVM M M M M M M M M M M M M M M M M M M M M M MMMMMMMM:FY
M: E?[VM M M M M M M M M M M M M M M M M M M M M M M M M M MMMMMMMMM:FY
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! )% ,) 
.=?'B.V !T. EGa 'GCI_[.T?d.+ C!'=?E.VM =?V 3!'[ =!V =!+ !E .EGTCG_V .4.'[
GE [=. IGVV?$?B?[?.V 3GT 3_E'[?GE!B?[c G3 `.=?'B.V* a=?'= [G;.[=.T a?[= E +V !E+
T.O_?T.C.E[V 3TGC '_V[GC.TV !E+ 3TGC VG'?.[c =!`. 'T.![.+ `?;GTG_V !'[?`?[?.V ?E
+.`.BGIC.E[M
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=. G`.T!BB +.C!E+V GE ! `.=?'B. !T. [=![ ?[ V=G_B+ ITG`?+. V!3. !E+ 'GC3GT[>
!$B. [T!EVIGT[![?GE [G;.[=.T a?[= ;GG+ .E`?TGEC.E[!B ITG[.'[?GE !E+ ;GG+ 3_.B
.'GEGCcM =?V C.!EV [=![ [=.T. !T. [=T C!?E G$@.'[?`.V 3GT !_[GCG[?`. 'GE[TGB
VcV[.CV)
 5'?.E'c* a=?'= B.!+V [G BGa.T 3_.B 'GEV_CI[?GEM
 C?VV?GEV V=G_B+ $. BGa [G ITG[.'[ [=. .E`?TGEC.E[M
 !3.[c ?V G3 'G_TV. ! A.c ?VV_.M
=.T. !T. ! E_C$.T G3 !++?[?GE!B G$@.'[?`.V B?A. 'GC3GT[* +T?`.!$?B?[c* BGa a.!T*
!`!?B!$?B?[c* !E+ BGE; [.TC 3_E'[?GE!B?[cM

48B ,<@3;, ; 0;.
!Ec G3 [=. [.'=EGBG;?.V [=![ [G+!c !T. 'GEV?+.T.+ !+`!E'.+* VGC.[?C.V .`.E
E.a* =!`. $ E !TG_E+ 3GT ! BGE; [?C.M [ ?V [=.T.3GT. ?E[.T.V[?E; [G !VA G_T>
V.B`.V a=c [=.V. [.'=EGBG;?.V !T. V_T3!'?E; EGa !V 'GCC.T'?!B ITG+_'[VM ?T.'[
?E@.'[?GE G3 ;!VGB?E. .E;?E.V ?V GE. .b!CIB.M =.V. 'GE'.I[V !T. EG[ E.a* .`.E
^ 5: 
?3 VGC.[?C.V IT.V.E[.+ VG* $_[ [=. EG`.B[c ?V ?EV[.!+ [=![ [=.c EGa a?[= ITGI.T
42A<40 '!E !'=?.`. 'GCI.[?[?`. 3_E'[?GE!B?[c !E+ I.T3GTC!E'.M
[ ?V [=_V [=. $T.!A[=TG_;= G3 'GCI_[.T 'GE[TGB [=![ ?V ! +T?`?E; 3!'[GTM 
;GG+ .b!CIB. ?V  JE[?>BG'A T!A?E; cV[.CVK a=?'= ?V !E GB+ ?+.!* $_[ ?[
a!V EG[ 3_E'[?GE!B .EG_;= _V?E; C.'=!E?'!B VGB_[?GEV GT !E!BG; .B.'[TGE?'VM Ga
[=.V. VcV[.CV !T. T.!+?Bc !`!?B!$B. !E+ a?+.Bc VIT.!+M
48A  ;<5 @,D <
GGA?E; ![ [=. 3_[_T.* [=. [=T G`.T!BB G$@.'[?`.V !$G`. a?BB $. ?E 3G'_VM =.
+.C!E+V G3 T.+_'.+ .C?VV?GEV !E+ !+`!E'.+ +?!;EGV?V 3_E'[?GE!B?[c !T. V[.!+?Bc
?E'T.!V.+ $c B.;?VB![GTV !E+ '_V[GC.TVM =. A.c !T.!V [=![ =.BI C [?E; [=.
?E'T.!V.+ +.C!E+V !T. [=. +.`.BGIC.E[ G3 'GE[TGB !E+ +?!;EGV?V 3_E'[?GEV ?E
[=. 'GE[TGB _E?[VM _T[=.T* [=?V 3_E'[?GE!B?[c a?BB =!`. [G $. G$[!?E.+ EG[ GEBc
a=.E [=. '!T ?V E.a* $_[ G`.T ! V_V[!?E.+ I.T?G+ G3 [?C.M [=.T .b!CIB.V !T.
?CITG`.+ V[!$?B?[c +_. [G =!E+B?E; 'GE[TGB* !E+ ?CITG`.+ +T?`.!$?B?[c +_.[G
+T?`.B?E. [GTO_. 'GE[TGB* a=?'= !BVG '!E $. _V.+ [G .M;M T.+_'. 'B_['= a.!TM
.;!T+?E; C.[=G+GBG;c +.`.BGIC.E[* C![=.C![?'!B CG+.BV a?BB IB!c !E ?C>
IGT[!E[ TGB.M =.c a?BB $. _V.+ 3GT CG+.B $!V.+ 'GE[TGB !E+ +?!;EGV?VM =.c a?BB
!BVG $. [=. $!V?V 3GT .M;M V.EVGT 3_V?GE* !+!I[?`. 'GE[TGB* !E+ V_I.T`?V?GEM
4, !=-*2
_[GCG[?`. 'GE[TGB a?BB EG[ GEBc ?CITG`. .b?V[?E; `.=?'B. +.V?;EVM [ a?BB !BVG [G
! B!T;. .b[.E[ '=!E;. [=. `?.a G3 `.=?'_B!T VcV[.CV +.V?;E B.!+?E; [G)
 .a C.'=!E?'!B +.V?;EVM =.V. E.a +.V?;EV !T. C!+. IGVV?$B. $c* !E+ T.Bc
GE* [=. .b?V[.E'. G3 ! 'GE[TGB VcV[.CM
.V?;E G3 `.=?'B.V ?V [=_V .`GB`?E; ?E[G 'G>+.V?;E G3 C.'=!E?'V !E+ 'GE[TGBM =.

;G!BV 3GT [=?V +.`.BGIC.E[ '!E $. V.[ =?;=* !E+ [=. I.TVI.'[?`.V GE !_[GCG[?`.
'GE[TGB VcV[.CV !T. [=.T.3GT. 'GE'B_+.+ a?[= !E ?EVI?T?E; C?E+ [.!V.T)
 1-2 A!=!<
[ '!E EG[ $. T_B.+ G_[ [=![ ! '!T '!E 3_E'[?GE !V !E !?T 'B.!E.T 3GT _V_!B [GaE !?TM
E ! [cI?'!B [GaE ?E [=. ?E+_V[T?!B aGTB+* [=. !?T ?V [cI?'!BBc VGC.a=![ IGBB_[.+
3TGC C!Ec VG_T'.V* ?E'B_+?E; '!TV* $_[ !BVG +_. [G =G_V. =.![?E; !E+ ?E+_V[T?.VM
b?V[?E; !E+ _I'GC?E; [.'=EGBG;c BGa.T?E; .b=!_V[ .C?VV?GEV !T. V_'= [=![[=.
'GE'.E[T![?GEV ?E [=. .b=!_V[ !3[.T [=. '![!BcV[ '!E $. BGa.T [=!E ?E [GaE !?TM
=?V C.!EV [=![ [=. GT?;?E!BBc !`!?B!$B. IGBB_[!E[V =!`. $ E 'GC$_V[.+ GT=!`.
$ E 'GBB.'[.+ ?E [=. '![!BcV[M
?E'. V_'= ! I.T3.'[ 'GC$_V[?GE ITG+_'.V GEBc a![.T !E+ '!T$GE +?Gb?+.* [=.
ITG$B.C G3 '!T$GE +?Gb?+. ?V [=.E ! C![[.T G3 B.VV 3_.B 'GEV_CI[?GEM
3 ![ !BB IGVV?$B.* V_'= ! +.`.BGIC.E[ a?BB T.Bc =.!`?Bc GE !_[GCG[?`. 'GE>
[TGB VcV[.CV V?E'. [=. '!T =!V [G 3_E'[?GE !V !E !?T 'B.!E.T _E+.T !BB IGVV?$B.
'?T'_CV[!E'.V* BG!+ `!T?![?GEV* !E+ +T?`?E; V[cB.VM =?V ?V ! C?E+ [.!V.T* $_[
_E+.TV[!E+?E; [=. C![.T?!B ?E [=?V $GGA ?V ! 7TV[ V[.IM
+ % /  /&
E [=?V '=!I[.T* [=. [=.TCG+cE!C?' '=!T!'[.T?V[?'V G3 $!V?' .E;?E. 'c'B.V !T. .b>
IB!?E.+M GT .!'= 'GE'.I[* [=. [=.TC!B .5'?.E'c ?V +.T?`.+ 3TGC [=.TCG+cE!C?'
.O_![?GEVM
B84 1@;3C@,31 @3 * ;03G10,<
 V=GT[ ?E[TG+_'[?GE [G [=.TCG+cE!C?'V ?V ;?`.E ?E [=?V V.'[?GEM [ ?V .VV.E[?!B [G
_E+.TV[!E+ [=. [=.TCG+cE!C?' ITG'.VV.V 3GT [=. +?4.T.E[ [cI.V G3 .E;?E. CG+.BV
.bIB!?E.+ ?E [=?V $GGAM
B8484 ,;<@ * ;03G10, E
+.!B ;!V.V !T. !Ba!cV ?E ! ;!V.G_V V[![. !E+ [=.c $.=!`. !''GT+?E; [G [=. ,/
(= 9C@,31)
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9 ?V [=. IT.VV_T. ?E E3

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![_T. G3 [=. ;!VM
=. [=.TC!B .E.T;c ?V +.7E.+ !V)
? 1 3H J^M^K
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a=.T.)
? ?V [=. [=.TC!B .E.T;c ?E 
 ?V [=. VI.'?7' =.![ 'GEV[!E[ ?E EJ.( K
=?V .O_![?GE ?V `!B?+ 3GT !BB A?E+ G3 C![.T?!BV ?E VGB?+* B?O_?+ !E+ ;!V.G_V V[![.M
=. VI.'?7' =.![ 'GEV[!E[ ?V C![.T?!B +.I.E+?E;M E ;!V.V* +?4.T.E[ V[![. '=!E;.V
=!`. [G $. +?V[?E;_?V=.+ a=?'= a?BB $. +?V'_VV.+ ?E [=. E.b[ V.'[?GEM
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"? ?V [=. +?4.T.E[?!B '=!E;. G3 [=.TC!B .E.T;cM E.T;c a=?'= ?V
$TG_;=[ ?E[G [=. ;!V ?V 64=-A-E!M
"I ?V [=. +?4.T.E[?!B '=!E;. G3 ?E[.TE!B .E.T;cM E[.TE!B .E.T;c
a=?'= ?V $TG_;=[ ?E[G [=. ;!V -= 64=-A-E!M
"K ?V [=. +?4.T.E[?!B '=!E;. G3 C.'=!E?'!B aGTAM .'=!E?'!B aGTA
a=?'= ?V $TG_;=[ ?E[G [=. ;!V ?V 2!*A-E!M
B.!V. EG[.* [=![ [=?V C!c $. +.7E.+ +?4.T.E[Bc ?E G[=.T $GGAVM

=. [=.TC!B .E.T;c "? $TG_;=[ ?E[G ! ;!V G3 'GEV[!E[ C!VV T.V_B[V ?E ! T?V. ?E
?[SV ?E[.TE!B .E.T;c "I !E+ZGT ?V [T!EV3GTC.+ ?E[G C.'=!E?'!B aGTA G_[V?+. [=.
;!VM =_V* .E.T;c ?V E.?[=.T 'T.![.+ EGT +.V[TGc.+M =?V .O_![?GE ?V VGB`.+$c
?E[.;T![?GE [G 'GCI_[. [=. .E.T;?.V ?E V[![. '=!E;.VM
40D1! +2*!
=.T. !T. [aG $!V?' IT?E'?IB.V =Ga C.'=!E?'!B aGTA '!E $. +.B?`.T.+ [G GT 3TGC
[=. VcV[.C) c ! '=!E;. G3 `GB_C. GT ! '=!E;. G3 IT.VV_T.M
E .E;?E.V* ! B?C?[.+ !CG_E[ G3 'GCIT.VV.+ ;!V .bI!E+V ?E ! 'cB?E+.TM =.
+?4.T.E[?!B C.'=!E?'!B aGTA "K
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+.I.E+V GE [=. 3GT'.  _IGE [=. I?V[GE !E+
[=. +?4.T.E[?!B I?V[GE V[TGA. "C)
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[=?V c?.B+V [G)
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?V .O_?`!B.E[ [G [=. A?E.[?' .E.T;c $TG_;=[ ?E[G [=. C.'=!E?'!B
VcV[.C +_. [G [=. .bI!EV?GE G3 [=. ;!V ?E [=. 'cB?E+.TM .'=!E?'!B .E.T;c $TG_;=[
?E[G [=. ;!V ?V E.;![?`.) " 2 e J'GCIT.VV?GEK !E+ [=.T.3GT. "K
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E [_T$?E.V* A?E.[?' .E.T;c ?V [T!EVC?[[.+ $c ! 'GE[?E_G_V ;!V 9Ga $.[a E [aG
BG'![?GEV G3 +?4.T.E[ IT.VV_T.)
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;T!I=?'!BBc .bIB!?EV [=. V[![. '=!E;. ?E [=. I>+?!;T!CM _[I_[ G3 C.'=!E?'!B
aGTA 3TGC [=. ;!V ?V IGV?[?`. $.'!_V. [=. IT.VV_T. +TGI ?V E.;![?`.) "9 2 e
J.bI!EV?GEK* "K
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=. [aG +?4.T.E[ [cI.V G3 aGTA !T. ;T!I=?'!BBc .bIB!?E.+ ?E ?;_T. ^M\ !E+
[=.c !T. B?EA.+ $c [=. 3GBBGa?E; .O_![?GE)
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.O_?`!B.E[ !V 9
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I E[.TE!B .E.T;c G3 [=. ;!VM [ ?V .O_?`!B.E[ [G [=. !CG_E[
G3 [=.TCG+cE!C?' .E.T;c +_. [G [=. CG`.C.E[ G3 [=. ![GCV
![ ! ;?`.E [.CI.T![_T.M
9 [![. G3 [=. ;!VM =. V[![. +.I.E+V GE [=. `GB_C. !E+ IT.VV_T.
G3 [=. ;!VM [ ?V T.B![.+ [G [=. ?E[.TE!B .E.T;c G3 [=. ;!VM
 V[![. '=!E;. '!E $. '!_V.+ $c ! '=!E;. G3 IT.VV_T.* ! '=!E;. G3 `GB_C. GT
$G[=)
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+ 1 I N 9 J^M/K
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GCI!T.+ [G [=. 7TV[ [=.TCG+cE!C?' B!a ?E O_![?GE ^M\
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[=. [=.TC!B .E.T;c '!E $. aT?[[.E !V)
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